Rotary: new formulae

.github/ci/create_rotary_formulae.sh

@@ -0,0 +1,69 @@
+#!/bin/sh
+
+for j in $(ls Aliases/gz-jetty-* | grep -v launch)
+do
+  p=$(basename $j | sed -e 's@.*gz-jetty-@@')
+  # set `r` to rotary formula path, like Formula/gz-rotary-math.rb
+  r=Formula/$(basename $j | sed -e 's@gz-jetty-@gz-rotary-@' -e 's@[0-9]*@@').rb
+  # copy jetty formula to rotary and fix class name, dependencies, and head branch
+  brew cat $(basename $j) > ${r}
+  sed -e 's@class Gz\([A-Za-z]*\)[0-9]*@class GzRotary\1@' \
+      -e 's@class Sdformat[0-9]*@class GzRotarySdformat@' \
+      -e 's@\(depends_on "gz-\)\([a-z_-]*\)[0-9]*"@\1rotary-\2"@' \
+      -e 's@\(depends_on "sdformat\)[0-9]*"@depends_on "gz-rotary-sdformat"@' \
+      -e 's@gz-gui-10@gz-gui@' \
+      -e 's@gz-physics-9@gz-physics@' \
+      -e 's@gz-rendering-10@gz-rendering@' \
+      -e 's@gz-sim-10@gz-sim@' \
+      -e 's@gz/plugin4@gz/plugin@' \
+      -e 's@gz/sim10@gz/sim@' \
+      -e 's@gz/transport15@gz/transport@' \
+      -e 's@\(Formula\["gz-\)\([a-z_-]*\)[0-9]*"@\1rotary-\2"@' \
+      -e 's@^.*head\( .* branch: "\).*$@  head\1main"@' \
+      -i -- ${r}
+  # remove bottle block
+  brew bump-revision ${r} --remove-bottle-block --write-only
+  # remove unneeded lines
+  sed -e '/^  url /d' \
+      -e '/^  sha256 /d' \
+      -e '/^  revision /d' \
+      -e '/^  conflicts_with "gz-rotary-/d' \
+      -e '/^  depends_on "freeimage"/d' \
+      -e '/qt@5/d' \
+      -i -- ${r}
+  # add conflicts_with
+  sed -e '/^  def install/i \
+  conflicts_with "", because: "both install gz-"\
+
+' -i -- ${r}
+  sed -e "s@conflicts_with \"\",.*@conflicts_with \"$(basename $j)\", because: \"both install gz-${p}\"@" \
+    -i -- ${r}
+  # add caveats
+  sed -e '/^  test do/i \
+  def caveats\
+    <<~EOS\
+      This is an unstable, development version of Gazebo built from source.\
+    EOS\
+  end\
+
+' -i -- ${r}
+
+  # add matching conflicts_with to jetty if not already present
+  if ! grep 'conflicts_with "gz-rotary-' ${j} > /dev/null ; then
+    sed -e '/^  def install/i \
+  conflicts_with "", because: "both install gz-"\
+
+' -i -- Aliases/$(readlink ${j})
+    sed -e "s@conflicts_with \"\".*@conflicts_with \"gz-rotary-${p}\", because: \"both install gz-${p}\"@" \
+      -i -- Aliases/$(readlink ${j})
+  fi
+
+  # create symlink for next numbered version to rotary formula
+  f=$(basename $(readlink $j) | sed -e 's@\.rb@@')
+  n=$(echo $f | sed -e 's@[^0-9]*@@')
+  next=$(python3 -c "print($n + 1)")
+  f_next=$(echo $f | sed -e "s@$n@$next@")
+  ln -s ../${r} Aliases/${f_next}
+done
+
+brew style --fix Formula/gz-rotary-*

Aliases/gz-fuel-tools12

@@ -0,0 +1 @@
+../Formula/gz-rotary-fuel-tools.rb

Aliases/gz-gui11

@@ -0,0 +1 @@
+../Formula/gz-rotary-gui.rb

Aliases/gz-msgs13

@@ -0,0 +1 @@
+../Formula/gz-rotary-msgs.rb

Aliases/gz-physics10

@@ -0,0 +1 @@
+../Formula/gz-rotary-physics.rb

Aliases/gz-rendering11

@@ -0,0 +1 @@
+../Formula/gz-rotary-rendering.rb

Aliases/gz-sensors11

@@ -0,0 +1 @@
+../Formula/gz-rotary-sensors.rb

Aliases/gz-sim11

@@ -0,0 +1 @@
+../Formula/gz-rotary-sim.rb

Aliases/gz-transport16

@@ -0,0 +1 @@
+../Formula/gz-rotary-transport.rb

Formula/gz-fuel-tools11.rb

@@ -24,6 +24,8 @@ class GzFuelTools11 < Formula
   depends_on "spdlog"
   depends_on "tinyxml2"
 
+  conflicts_with "gz-rotary-fuel-tools", because: "both install gz-fuel-tools"
+
   def install
     cmake_args = std_cmake_args
     cmake_args << "-DBUILD_TESTING=Off"

Formula/gz-gui10.rb

@@ -31,6 +31,8 @@ class GzGui10 < Formula
   depends_on "spdlog"
   depends_on "tinyxml2"
 
+  conflicts_with "gz-rotary-gui", because: "both install gz-gui"
+
   def install
     rpaths = [
       rpath,

Formula/gz-msgs12.rb

@@ -30,6 +30,8 @@ def python_cmake_arg(python = Formula["python@3.13"])
     "-DPython3_EXECUTABLE=#{python.opt_libexec}/bin/python"
   end
 
+  conflicts_with "gz-rotary-msgs", because: "both install gz-msgs"
+
   def install
     rpaths = [
       rpath,

Formula/gz-physics9.rb

@@ -37,6 +37,8 @@ class GzPhysics9 < Formula
   depends_on "tinyxml2"
   depends_on "urdfdom"
 
+  conflicts_with "gz-rotary-physics", because: "both install gz-physics"
+
   def install
     rpaths = [
       rpath,

Formula/gz-rendering10.rb

@@ -28,6 +28,8 @@ class GzRendering10 < Formula
   depends_on "ogre2.3"
   depends_on "spdlog"
 
+  conflicts_with "gz-rotary-rendering", because: "both install gz-rendering"
+
   def install
     rpaths = [
       rpath,

Formula/gz-rotary-fuel-tools.rb

@@ -0,0 +1,77 @@
+class GzRotaryFuelTools < Formula
+  desc "Tools for using Fuel API to download robot models"
+  homepage "https://gazebosim.org"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-fuel-tools.git", branch: "main"
+
+  depends_on "abseil"
+  depends_on "cmake"
+  depends_on "fmt"
+  depends_on "gz-rotary-cmake"
+  depends_on "gz-rotary-common"
+  depends_on "gz-rotary-math"
+  depends_on "gz-rotary-msgs"
+  depends_on "gz-rotary-utils"
+  depends_on "jsoncpp"
+  depends_on "libyaml"
+  depends_on "libzip"
+  depends_on "pkgconf"
+  depends_on "protobuf"
+  depends_on "spdlog"
+  depends_on "tinyxml2"
+
+  conflicts_with "gz-jetty-fuel-tools", because: "both install gz-fuel-tools"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=Off"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  def caveats
+    <<~EOS
+      This is an unstable, development version of Gazebo built from source.
+    EOS
+  end
+
+  test do
+    (testpath/"test.cpp").write <<-EOS
+      #include <gz/fuel_tools.hh>
+      int main() {
+        gz::fuel_tools::ServerConfig srv;
+        return 0;
+      }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
+      find_package(gz-fuel_tools QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-fuel_tools::gz-fuel_tools)
+    EOS
+    # test building with pkg-config
+    system "pkg-config", "gz-fuel_tools"
+    cflags = `pkg-config --cflags gz-fuel_tools`.split
+    system ENV.cc, "test.cpp",
+                   *cflags,
+                   "-L#{lib}",
+                   "-lgz-fuel_tools",
+                   "-lc++",
+                   "-o", "test"
+    system "./test"
+    # test building with cmake
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end

Formula/gz-rotary-gui.rb

@@ -0,0 +1,137 @@
+class GzRotaryGui < Formula
+  desc "Common libraries for robotics applications. GUI Library"
+  homepage "https://github.com/gazebosim/gz-gui"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-gui.git", branch: "main"
+
+  depends_on "cmake" => [:build, :test]
+  depends_on "pkgconf" => [:build, :test]
+  depends_on "abseil"
+  depends_on "fmt"
+  depends_on "gz-rotary-cmake"
+  depends_on "gz-rotary-common"
+  depends_on "gz-rotary-math"
+  depends_on "gz-rotary-msgs"
+  depends_on "gz-rotary-plugin"
+  depends_on "gz-rotary-rendering"
+  depends_on "gz-rotary-transport"
+  depends_on "gz-rotary-utils"
+  depends_on "protobuf"
+  depends_on "qt5compat"
+  depends_on "qtbase"
+  depends_on "qtcharts"
+  depends_on "qtdeclarative"
+  depends_on "qtlocation"
+  depends_on "qtpositioning"
+  depends_on "qtsvg"
+  depends_on "spdlog"
+  depends_on "tinyxml2"
+
+  conflicts_with "gz-jetty-gui", because: "both install gz-gui"
+
+  def install
+    rpaths = [
+      rpath,
+      rpath(source: lib/"gz-gui/plugins", target: lib),
+    ]
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=Off"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpaths.join(";")}"
+
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  def caveats
+    <<~EOS
+      This is an unstable, development version of Gazebo built from source.
+    EOS
+  end
+
+  test do
+    require "system_command"
+    extend SystemCommand::Mixin
+
+    # test some plugins in subfolders
+    %w[CameraFps Publisher TopicViewer WorldStats].each do |plugin|
+      p = lib/"gz-gui/plugins/lib#{plugin}.dylib"
+      # Use gz-plugin --info command to check plugin linking
+      cmd = Formula["gz-rotary-plugin"].opt_libexec/"gz/plugin/gz-plugin"
+      args = ["--info", "--plugin"] << p
+      # print command and check return code
+      system cmd, *args
+      # check that library was loaded properly
+      _, stderr = system_command(cmd, args:)
+      error_string = "Error while loading the library"
+      assert stderr.exclude?(error_string), error_string
+    end
+    # build against API
+    (testpath/"test.cpp").write <<-EOS
+    #include <iostream>
+
+    #ifndef Q_MOC_RUN
+      #include <gz/gui/qt.h>
+      #include <gz/gui/Application.hh>
+      #include <gz/gui/MainWindow.hh>
+    #endif
+
+    //////////////////////////////////////////////////
+    int main(int _argc, char **_argv)
+    {
+      std::cout << "Hello, GUI!" << std::endl;
+
+      // Increase verboosity so we see all messages
+      gz::common::Console::SetVerbosity(4);
+
+      // Create app
+      gz::gui::Application app(_argc, _argv);
+
+      // Load plugins / config
+      if (!app.LoadPlugin("Publisher"))
+      {
+        return 1;
+      }
+
+      // Customize main window
+      auto win = app.findChild<gz::gui::MainWindow *>()->QuickWindow();
+      win->setProperty("title", "Hello Window!");
+
+      // Run window
+      // app.exec();
+
+      std::cout << "After run" << std::endl;
+
+      return 0;
+    }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
+      find_package(gz-gui QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-gui::gz-gui)
+    EOS
+    # system "pkg-config", "gz-gui", "--cflags"
+    # system "pkg-config", "gz-gui", "--libs"
+    # cflags   = `pkg-config --cflags gz-gui`.split
+    # ldflags  = `pkg-config --libs gz-gui`.split
+    # system ENV.cc, "test.cpp",
+    #                *cflags,
+    #                *ldflags,
+    #                "-lc++",
+    #                "-o", "test"
+    ENV["GZ_PARTITION"] = rand((1 << 32) - 1).to_s
+    # system "./test"
+    # test building with cmake
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end